Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

2013 ◽  
Author(s):  
E. J. Markvicka ◽  
R. L. McCormick ◽  
T. P. Frederick ◽  
J. R. Bartels ◽  
S. M. Farritor ◽  
...  
Keyword(s):  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Financial Burden ◽  
Abdominal Cavity ◽  
Surgical Robot ◽  
Surgical Instruments ◽  
Robotic Device ◽  
Incision Site ◽  
Active Research

Colorectal surgery is an area of active research within general surgery. However, over 80% of these procedures currently require an open surgery based on the size and location of the tumor. The current state-of-the-art surgical instruments are unintuitive, restricted by the incision site, and often require timely repositioning tasks during complex surgical procedures. A multi-quadrant miniature in vivo surgical robot has been developed to mitigate these limitations as well as the invasiveness of colorectal procedures. By reducing invasiveness, the patient benefits from improved cosmetics, decreased postoperative pain, faster recovery time, and reduced financial burden. A paradigm shift in invasiveness is often inversely proportional to surgeon benefits. Yet, through the use of a robotic device, the surgeon benefits from improved ergonomics, intuitive control, and fewer required repositioning tasks. This paper presents a two armed robotic device that can be controlled from a remote surgical interface. Each arm has six internally actuated degrees of freedom, decoupling the system from the incision site. Each arm is also equipped with a specialized interchangeable end effector. For the surgical procedure, visual feedback is provided through the use of a standard laparoscope with incorporated light source. The robotic device is introduced into the abdominal cavity through a hand-assisted laparoscopic surgery (HALS) port that is placed within the navel. The device is then grossly positioned to the site of interest within the abdominal cavity through the use of a protruding rod that is rigidly attached to each arm. The surgeon can then begin to manipulate tissue through the use of the surgical interface that is remotely located within the operating room. This interface is comprised of a monitor to provide visual feedback, foot pedals to control the operational state of the device, and two haptic devices to control the end point location of each arm and state of the end effectors.

Multi-Functional Surgical Robot for Laparo-Endoscopic Single-Site Colectomies

2011 ◽  
Author(s):  
T. D. Wortman ◽  
R. L. McCormick ◽  
E. J. Markvicka ◽  
T. P. Frederick ◽  
S. M. Farritor ◽  
...  
Keyword(s):  
User Interface ◽  
Operating Room ◽  
Surgical Procedure ◽  
Abdominal Cavity ◽  
Colon Resection ◽  
Surgical Robot ◽  
Single Site ◽  
Robotic Platform ◽  
Robot Platform

This paper presents work to develop a miniature in vivo robot for Laparo-Endoscopic Single-Site (LESS) colectomy. Colon resections are generally not done laparoscopically and would benefit from a robotic platform that reduces the limitations that are currently encountered. This paper looks at the workspace, forces, and speeds of a recently developed miniature in vivo surgical robot platform and analyzes the ability to perform a colon resection based on these criteria. The robotic platform used in this study consists of a two armed robotic prototype and a remote surgeon interface. For the surgical procedure, each arm of the robot is inserted individually into a single five centimeter incision and then assembled within the abdominal cavity. A surgeon then utilizes a user interface that is remotely located within the operating room. The current robotic platform has recently been demonstrated successfully in an in vivo procedure.

scholarly journals A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

2013 ◽  
Vol 8-9 ◽  
pp. 574-583 ◽  
Author(s):  
Calin Vaida ◽  
Bogdan Gherman ◽  
Doina Pislă ◽  
Nicolae Plitea
Keyword(s):  
Ct Scan ◽  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Medical Applications ◽  
Robotic Device ◽  
Needle Placement ◽  
Viable Solution ◽  
Simulation Results ◽  
Deep Target

Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted inside the CT gantry, and has decoupled motions to ensure maximum accuracy during the needle placement. It will be shown that for needle placement tasks 5 degrees of freedom (DOF) are sufficient to achieve the task. The geometric and kinematic model of the robot will be presented. The workspace and precision mapping are computed. Some simulation results will show the robot capabilities as well as its placement in the CT scan environment.

Design and Evaluation of a Dexterous and Modular Hand-Held Surgical Robot for Minimally Invasive Surgery

2019 ◽  
Vol 13 (4) ◽  
Author(s):  
Yingkan Yang ◽  
Kang Kong ◽  
Jianmin Li ◽  
Shuxin Wang ◽  
Jinhua Li
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Surgical Robot ◽  
Surgical Instruments ◽  
Surgical Performance ◽  
Conventional Instrument ◽  
End Effectors ◽  
Intuitive Interface

Abstract Current surgical instruments with fewer degrees-of-freedom (DOF) for minimally invasive surgery (MIS) have limited capability to perform complicated and precise procedures, such as suturing and knot-tying. To address such a problem, a modular dexterous hand-held surgical robot with an ergonomic handle and 4DOF interchangeable instruments was developed. The kinematic arrangement of the instrument and that of the handle were designed to be the same. A compact roll-yaw-roll transmission was proposed applying cable-driven mechanism. Performance experiments were carried out to evaluate the effectiveness of the overall system. The measured grip forces of the robot ranged from 8.63 N to 19.18 N. The suturing performance score of the robot was significantly higher than that of the conventional instrument (28.8 ± 5.02 versus 17.2 ± 7.43, p = 0.041). The trajectory tracking test and animal experiment verified the accuracy and feasibility of the robot. The proposed robot could improve the surgical performance of MIS, providing various end-effectors and having an intuitive interface in the meantime.

scholarly journals A Novel Handheld Bimanual Surgical Robot for Single-Port Laparoscopic Surgery

2020 ◽  
Author(s):  
Zhe Feng ◽  
Dinghui Dong ◽  
Tao Ma ◽  
Yue Wang ◽  
Huan Chen ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Degrees Of Freedom ◽  
Single Port ◽  
Hepatic Cyst ◽  
Surgical Robot ◽  
Surgical Instruments ◽  
Robot System ◽  
Laser Head ◽  
Long Time ◽  
The Right

Abstract Background: single-port laparoscopic surgery is a hotspot of minimally invasive surgery, but its promotion is limited because of operational triangulation and instrument conflict. Robot technologies can cleverly solve this dilemma. But most of the surgery robots need high cost and long time to setup and mainly for complex surgery currently. There is no portable single-port laparoscopic robotic surgical instruments suitable for simple abdominal surgery. Method: This paper presents a handheld single-port laparoscopic surgical robot. It consists of two manipulate arms, both of the arms have 2 degrees of freedom, and two more degrees of freedom can be applied by handheld. The left arm has the function of pulling tissue, while the right arm is equipped with a laser fiber, which can be used for tissue cutting and hemostasis with a 980nm diode laser. Kinematics analysis, dynamic simulation, modal analysis and vitro simulation experiments were conducted to verify the feasibility for the handheld single-port laparoscopic robot. Result: The bimanual surgical robot can provide enough workspace, the gripper and laser head have stable working ability, and can successfully complete the fenestration and drainage of hepatic cyst. Conclusion: This bimanual surgical robot has the potential to become a surgical instrument for simple intraperitoneal surgery. It can provide a small, portable and inexpensive surgical robot system.

4D in in vivo 2-photon laser scanning fluorescence microscopy with sample motion in 6 degrees of freedom

2011 ◽  
Vol 200 (1) ◽  
pp. 47-53 ◽  
Author(s):  
Sabine Scheibe ◽  
Mario M. Dorostkar ◽  
Christian Seebacher ◽  
Rainer Uhl ◽  
Frank Lison ◽  
...  
Keyword(s):  
Fluorescence Microscopy ◽  
Laser Scanning ◽  
Degrees Of Freedom ◽  
Sample Motion ◽  
6 Degrees Of Freedom

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

scholarly journals Decontamination of surgical instruments from prions. II. In vivo findings with a model system for testing the removal of scrapie infectivity from steel surfaces

2008 ◽  
Vol 89 (1) ◽  
pp. 348-358 ◽  
Author(s):  
Karin Lemmer ◽  
Martin Mielke ◽  
Christine Kratzel ◽  
Marion Joncic ◽  
Muhsin Oezel ◽  
...  
Keyword(s):  
Model System ◽  
Surgical Instruments ◽  
Steel Surfaces

scholarly journals Estimation of the Abduction/Adduction Movement of the Metacarpophalangeal Joint of the Thumb

2021 ◽  
Vol 11 (7) ◽  
pp. 3158
Author(s):  
Néstor J. Jarque-Bou ◽  
Margarita Vergara ◽  
Joaquín L. Sancho-Bru
Keyword(s):  
3D Modeling ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Estimation Error ◽  
Metacarpophalangeal Joint ◽  
Joint Movement ◽  
Carpometacarpal Joint ◽  
Small Space ◽  
Joint Motions

Thumb opposition is essential for grasping, and involves the flexion and abduction of the carpometacarpal and metacarpophalangeal joints of the thumb. The high number of degrees of freedom of the thumb in a fairly small space makes the in vivo recording of its kinematics a challenging task. For this reason, along with the very limited independence of the abduction movement of the metacarpophalangeal joint, many devices do not implement sensors to measure such movement, which may lead to important implications in terms of the accuracy of thumb models. The aims of this work are to examine the correlation between thumb joints and to obtain an equation that allows thumb metacarpophalangeal abduction/adduction movement to be estimated from the other joint motions of the thumb, during the commonest grasps used during activities of daily living and in free movement. The correlation analysis shows that metacarpophalangeal abduction/adduction movement can be expressed mainly from carpometacarpal joint movements. The model thus obtained presents a low estimation error (6.29°), with no significant differences between grasps. The results could benefit most fields that do not typically include this joint movement, such as virtual reality, teleoperation, 3D modeling, prostheses, and exoskeletons.

scholarly journals A Dynamic Culture Method to Produce Ovarian Cancer Spheroids under Physiologically-Relevant Shear Stress

Cells ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 277 ◽  
Author(s):  
Timothy Masiello ◽  
Atul Dhall ◽  
L. Hemachandra ◽  
Natalya Tokranova ◽  
J. Melendez ◽  
...  
Keyword(s):  
Ovarian Cancer ◽  
Shear Stress ◽  
Fluid Shear Stress ◽  
Abdominal Cavity ◽  
Culture Method ◽  
Experimental Conditions ◽  
Dynamic Cell ◽  
Screening Platform ◽  
Cancer Spheroids

The transcoelomic metastasis pathway is an alternative to traditional lymphatic/hematogenic metastasis. It is most frequently observed in ovarian cancer, though it has been documented in colon and gastric cancers as well. In transcoelomic metastasis, primary tumor cells are released into the abdominal cavity and form cell aggregates known as spheroids. These spheroids travel through the peritoneal fluid and implant at secondary sites, leading to the formation of new tumor lesions in the peritoneal lining and the organs in the cavity. Models of this process that incorporate the fluid shear stress (FSS) experienced by these spheroids are few, and most have not been fully characterized. Proposed herein is the adaption of a known dynamic cell culture system, the orbital shaker, to create an environment with physiologically-relevant FSS for spheroid formation. Experimental conditions (rotation speed, well size and cell density) were optimized to achieve physiologically-relevant FSS while facilitating the formation of spheroids that are also of a physiologically-relevant size. The FSS improves the roundness and size consistency of spheroids versus equivalent static methods and are even comparable to established high-throughput arrays, while maintaining nearly equivalent viability. This effect was seen in both highly metastatic and modestly metastatic cell lines. The spheroids generated using this technique were fully amenable to functional assays and will allow for better characterization of FSS’s effects on metastatic behavior and serve as a drug screening platform. This model can also be built upon in the future by adding more aspects of the peritoneal microenvironment, further enhancing its in vivo relevance.

scholarly journals Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedback

2002 ◽  
Vol 12 ◽  
pp. 75-83
Author(s):  
A. Krupa ◽  
M. de Mathelin ◽  
C. Doignon ◽  
J. Gangloff ◽  
G. Morel ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Visual Feedback ◽  
Surgical Instruments ◽  
Automatic Positioning
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